/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once

#include <string>

namespace base {

/**
 * @brief Sensor types are set in the order of lidar, radar, camera, ultrasonic
 *        Please make sure SensorType has same id with SensorMeta,
 *        which defined in the proto of sensor_manager
 */
enum class SensorType {
    UNKNOWN_SENSOR_TYPE = -1,
    VELODYNE_64 = 0,
    VELODYNE_32 = 1,
    VELODYNE_16 = 2,
    LDLIDAR_4 = 3,
    LDLIDAR_1 = 4,
    SHORT_RANGE_RADAR = 5,
    LONG_RANGE_RADAR = 6,
    MONOCULAR_CAMERA = 7,
    STEREO_CAMERA = 8,
    ULTRASONIC = 9,
    VELODYNE_128 = 10,
    SENSOR_TYPE_NUM
};

enum class SensorOrientation {
    FRONT = 0,
    LEFT_FORWARD = 1,
    LEFT = 2,
    LEFT_BACKWARD = 3,
    REAR = 4,
    RIGHT_BACKWARD = 5,
    RIGHT = 6,
    RIGHT_FORWARD = 7,
    PANORAMIC = 8
};

struct SensorInfo {
    std::string name = "UNKNONW_SENSOR";
    SensorType type = SensorType::UNKNOWN_SENSOR_TYPE;
    SensorOrientation orientation = SensorOrientation::FRONT;
    std::string frame_id = "UNKNOWN_FRAME_ID";
    void Reset() {
        name = "UNKNONW_SENSOR";
        type = SensorType::UNKNOWN_SENSOR_TYPE;
        orientation = SensorOrientation::FRONT;
        frame_id = "UNKNOWN_FRAME_ID";
    }
};

// TODO(All): remove
// typedef std::shared_ptr<SensorInfo> SensorInfoPtr;

}  // namespace fusion
